ODriveCAN.h File Reference

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Classes
class	ODriveCAN
class	ODriveCAN1
class	ODriveCAN2

Enumerations
enum class	ODriveState : uint32_t {   AXIS_STATE_UNDEFINED =0 , AXIS_STATE_IDLE =1 , AXIS_STATE_STARTUP_SEQUENCE =2 , AXIS_STATE_FULL_CALIBRATION_SEQUENCE =3 ,   AXIS_STATE_MOTOR_CALIBRATION =4 , AXIS_STATE_ENCODER_INDEX_SEARCH =6 , AXIS_STATE_ENCODER_OFFSET_CALIBRATION =7 , AXIS_STATE_CLOSED_LOOP_CONTROL =8 ,   AXIS_STATE_LOCKIN_SPIN =9 , AXIS_STATE_ENCODER_DIR_FIND =10 , AXIS_STATE_HOMING =11 , AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION =12 ,   AXIS_STATE_ENCODER_HALL_PHASE_CALIBRATION =13 }
enum class	ODriveControlMode : uint32_t { CONTROL_MODE_VOLTAGE_CONTROL = 0 , CONTROL_MODE_TORQUE_CONTROL = 1 , CONTROL_MODE_VELOCITY_CONTROL = 2 , CONTROL_MODE_POSITION_CONTROL = 3 }
enum class	ODriveInputMode : uint32_t {   INPUT_MODE_INACTIVE = 0 , INPUT_MODE_PASSTHROUGH = 1 , INPUT_MODE_VEL_RAMP = 2 , INPUT_MODE_POS_FILTER = 3 ,   INPUT_MODE_MIX_CHANNELS = 4 , INPUT_MODE_TRAP_TRAJ = 5 , INPUT_MODE_TORQUE_RAMP =6 , INPUT_MODE_MIRROR =7 }
enum class	ODriveLocalState : uint32_t {   IDLE , WAIT_READY , WAIT_CALIBRATION_DONE , WAIT_CALIBRATION ,   RUNNING , START_RUNNING }
enum class	ODriveEncoderFlags : uint32_t {   ERROR_NONE = 0 , ERROR_UNSTABLE_GAIN = 0x01 , ERROR_CPR_POLEPAIRS_MISMATCH = 0x02 , ERROR_NO_RESPONSE = 0x04 ,   ERROR_UNSUPPORTED_ENCODER_MODE = 0x08 , ERROR_ILLEGAL_HALL_STATE = 0x10 , ERROR_INDEX_NOT_FOUND_YET = 0x20 , ERROR_ABS_SPI_TIMEOUT = 0x40 ,   ERROR_ABS_SPI_COM_FAIL = 0x80 , ERROR_ABS_SPI_NOT_READY = 0x100 , ERROR_HALL_NOT_CALIBRATED_YET = 0x200 }
enum class	ODriveAxisError : uint32_t {   AXIS_ERROR_NONE = 0x00000000 , AXIS_ERROR_INVALID_STATE = 0x00000001 , AXIS_ERROR_WATCHDOG_TIMER_EXPIRED = 0x00000800 , AXIS_ERROR_MIN_ENDSTOP_PRESSED = 0x00001000 ,   AXIS_ERROR_MAX_ENDSTOP_PRESSED = 0x00002000 , AXIS_ERROR_ESTOP_REQUESTED = 0x00004000 , AXIS_ERROR_HOMING_WITHOUT_ENDSTOP = 0x00020000 , AXIS_ERROR_OVER_TEMP = 0x00040000 ,   AXIS_ERROR_UNKNOWN_POSITION = 0x00080000 }
enum class	ODriveCAN_commands : uint32_t {   canid , canspd , errors , state ,   maxtorque , vbus , anticogging , connected ,   storepos }

Enumeration Type Documentation

ODriveAxisError

enum class ODriveAxisError : uint32_t

strong

Enumerator
AXIS_ERROR_NONE
AXIS_ERROR_INVALID_STATE
AXIS_ERROR_WATCHDOG_TIMER_EXPIRED
AXIS_ERROR_MIN_ENDSTOP_PRESSED
AXIS_ERROR_MAX_ENDSTOP_PRESSED
AXIS_ERROR_ESTOP_REQUESTED
AXIS_ERROR_HOMING_WITHOUT_ENDSTOP
AXIS_ERROR_OVER_TEMP
AXIS_ERROR_UNKNOWN_POSITION

Definition at line 29 of file ODriveCAN.h.

ODriveCAN_commands

enum class ODriveCAN_commands : uint32_t

strong

Enumerator
canid
canspd
errors
state
maxtorque
vbus
anticogging
connected
storepos

Definition at line 31 of file ODriveCAN.h.

ODriveControlMode

enum class ODriveControlMode : uint32_t

strong

Enumerator
CONTROL_MODE_VOLTAGE_CONTROL
CONTROL_MODE_TORQUE_CONTROL
CONTROL_MODE_VELOCITY_CONTROL
CONTROL_MODE_POSITION_CONTROL

Definition at line 24 of file ODriveCAN.h.

ODriveEncoderFlags

enum class ODriveEncoderFlags : uint32_t

strong

Enumerator
ERROR_NONE
ERROR_UNSTABLE_GAIN
ERROR_CPR_POLEPAIRS_MISMATCH
ERROR_NO_RESPONSE
ERROR_UNSUPPORTED_ENCODER_MODE
ERROR_ILLEGAL_HALL_STATE
ERROR_INDEX_NOT_FOUND_YET
ERROR_ABS_SPI_TIMEOUT
ERROR_ABS_SPI_COM_FAIL
ERROR_ABS_SPI_NOT_READY
ERROR_HALL_NOT_CALIBRATED_YET

Definition at line 28 of file ODriveCAN.h.

ODriveInputMode

enum class ODriveInputMode : uint32_t

strong

Enumerator
INPUT_MODE_INACTIVE
INPUT_MODE_PASSTHROUGH
INPUT_MODE_VEL_RAMP
INPUT_MODE_POS_FILTER
INPUT_MODE_MIX_CHANNELS
INPUT_MODE_TRAP_TRAJ
INPUT_MODE_TORQUE_RAMP
INPUT_MODE_MIRROR

Definition at line 25 of file ODriveCAN.h.

ODriveLocalState

enum class ODriveLocalState : uint32_t

strong

Enumerator
IDLE
WAIT_READY
WAIT_CALIBRATION_DONE
WAIT_CALIBRATION
RUNNING
START_RUNNING

Definition at line 26 of file ODriveCAN.h.

ODriveState

enum class ODriveState : uint32_t

strong

Enumerator
AXIS_STATE_UNDEFINED
AXIS_STATE_IDLE
AXIS_STATE_STARTUP_SEQUENCE
AXIS_STATE_FULL_CALIBRATION_SEQUENCE
AXIS_STATE_MOTOR_CALIBRATION
AXIS_STATE_ENCODER_INDEX_SEARCH
AXIS_STATE_ENCODER_OFFSET_CALIBRATION
AXIS_STATE_CLOSED_LOOP_CONTROL
AXIS_STATE_LOCKIN_SPIN
AXIS_STATE_ENCODER_DIR_FIND
AXIS_STATE_HOMING
AXIS_STATE_ENCODER_HALL_POLARITY_CALIBRATION
AXIS_STATE_ENCODER_HALL_PHASE_CALIBRATION

Definition at line 23 of file ODriveCAN.h.